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Capital Structure - Stock Offerings (Details) - USD ($) $ in Millions |  | 12 Months Ended |  |  |  |
--- | --- | --- | --- | --- | --- | ---
Aug. 11, 2022 | Jun. 30, 2023 | Sep. 30, 2023 | Sep. 28, 2021 | Jun. 04, 2021 | Jun. 08, 2020
Shelf Registration Statement, 2020 Shelf |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |
Shelf registration, amount authorized |  |  |  |  |  | $ 100.0
Shelf Registration Statement, 2020 Shelf, At-the-market Sales Agreement |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |
At-the-market sales agreement, amount authorized |  |  |  |  | $ 30.0 |
Issuance of common stock (in shares) |  | 699,929 |  |  |  |
Proceeds from issuance of stock, net |  | $ 2.9 |  |  |  |
Shelf Registration Statement, 2021 Shelf |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |
Shelf registration, amount authorized |  |  |  | $ 100.0 |  |
Shelf registration, remaining amount available for sale |  |  | $ 82.4 |  |  |
Shelf Registration Statement, 2021 Shelf, Underwritten Public Offering, August 2022 |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |
Issuance of common stock (in shares) | 1,075,290 |  |  |  |  |
Proceeds from issuance of common stock and warrants | $ 10.0 |  |  |  |  |
Underwriting discounts, commissions, and other offering expenses | $ 0.9 |  |  |  |  |

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